{"id":"https://openalex.org/W4378717025","doi":"https://doi.org/10.3390/robotics12030078","title":"Path Following for an Omnidirectional Robot Using a Non-Linear Model Predictive Controller for Intelligent Warehouses","display_name":"Path Following for an Omnidirectional Robot Using a Non-Linear Model Predictive Controller for Intelligent Warehouses","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4378717025","doi":"https://doi.org/10.3390/robotics12030078"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12030078","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12030078","pdf_url":"https://www.mdpi.com/2218-6581/12/3/78/pdf?version=1685342105","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/12/3/78/pdf?version=1685342105","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051783471","display_name":"Rocco Galati","orcid":"https://orcid.org/0000-0001-7065-9968"},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Rocco Galati","raw_affiliation_strings":["Department of Mechanics, Mathematics and Management, Polytechnic University of Bari, Via Orabona 4, 70126 Bari, Italy"],"raw_orcid":"https://orcid.org/0000-0001-7065-9968","affiliations":[{"raw_affiliation_string":"Department of Mechanics, Mathematics and Management, Polytechnic University of Bari, Via Orabona 4, 70126 Bari, Italy","institution_ids":["https://openalex.org/I68618741"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088671938","display_name":"Giacomo Mantriota","orcid":"https://orcid.org/0000-0003-3331-6864"},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giacomo Mantriota","raw_affiliation_strings":["Department of Mechanics, Mathematics and Management, Polytechnic University of Bari, Via Orabona 4, 70126 Bari, Italy"],"raw_orcid":"https://orcid.org/0000-0003-3331-6864","affiliations":[{"raw_affiliation_string":"Department of Mechanics, Mathematics and Management, Polytechnic University of Bari, Via Orabona 4, 70126 Bari, Italy","institution_ids":["https://openalex.org/I68618741"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5051783471"],"corresponding_institution_ids":["https://openalex.org/I68618741"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":2.3704,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.89141414,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"12","issue":"3","first_page":"78","last_page":"78"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.7302644848823547},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6787107586860657},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6393420696258545},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6122825145721436},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5072798132896423},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48331785202026367},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4825424551963806},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4197104275226593},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38811150193214417},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.335368275642395},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3267735242843628},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31827178597450256},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30295228958129883},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1770910620689392}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.7302644848823547},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6787107586860657},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6393420696258545},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6122825145721436},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5072798132896423},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48331785202026367},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4825424551963806},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4197104275226593},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38811150193214417},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.335368275642395},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3267735242843628},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31827178597450256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30295228958129883},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1770910620689392},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics12030078","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12030078","pdf_url":"https://www.mdpi.com/2218-6581/12/3/78/pdf?version=1685342105","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:98ba3b035fbb430ba33b5e40341acc01","is_oa":true,"landing_page_url":"https://doaj.org/article/98ba3b035fbb430ba33b5e40341acc01","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 12, Iss 3, p 78 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/12/3/78/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics12030078","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 12; Issue 3; Pages: 78","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics12030078","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12030078","pdf_url":"https://www.mdpi.com/2218-6581/12/3/78/pdf?version=1685342105","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4378717025.pdf"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W648378158","https://openalex.org/W2044795764","https://openalex.org/W2061555794","https://openalex.org/W2416787247","https://openalex.org/W2616814606","https://openalex.org/W2767621403","https://openalex.org/W2900266552","https://openalex.org/W2922247096","https://openalex.org/W2953369348","https://openalex.org/W2969897047","https://openalex.org/W2983886045","https://openalex.org/W3036426691","https://openalex.org/W3046425165","https://openalex.org/W3149146798","https://openalex.org/W3158578423","https://openalex.org/W3185431479","https://openalex.org/W3205331293","https://openalex.org/W4224244694","https://openalex.org/W4286907145","https://openalex.org/W4309333034","https://openalex.org/W4311816926","https://openalex.org/W4318000870","https://openalex.org/W6677289904","https://openalex.org/W6716327960","https://openalex.org/W6756256488"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2060165215","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W4248731570","https://openalex.org/W2320869598","https://openalex.org/W4323768008","https://openalex.org/W2381210024","https://openalex.org/W3131574667","https://openalex.org/W4211095314"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"results":[3],"coming":[4],"from":[5],"a":[6,23],"non-linear":[7],"model":[8],"predictive":[9],"controller":[10,59],"used":[11],"to":[12,26,37],"generate":[13],"optimized":[14],"trajectories":[15,47],"specifically":[16],"for":[17],"an":[18],"omnidirectional":[19],"robot":[20],"equipped":[21],"with":[22,49,55],"spraying":[24],"unit":[25],"mark":[27],"on":[28,45,57],"the":[29,31,58],"floor":[30],"perimeter":[32],"of":[33],"dangerous":[34],"areas":[35],"or":[36],"move":[38],"large":[39],"palletized":[40],"goods":[41],"inside":[42],"warehouses.":[43],"Results":[44],"different":[46],"and":[48],"moving":[50],"obstacles":[51],"are":[52],"provided":[53],"along":[54],"considerations":[56],"performance.":[60]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":1}],"updated_date":"2026-01-25T23:04:38.658462","created_date":"2025-10-10T00:00:00"}